拍照反馈连续触发问题，增加最短间隔参数。

测流自动模式开始重置测流号

ArduCopter/mode_auto.cpp

@@ -2086,6 +2086,9 @@ bool ModeAuto::verify_nav_wp_flow_measure(const AP_Mission::Mission_Command& cmd
     }
     
     if(copter.flow_measure.get_flow_update_state() > 3){
+        if(wp_nav_index == 0){
+            copter.flow_measure.flow_wp_index = 1;
+        }
         copter.flow_measure.set_wp_auto_index(copter.flow_measure.flow_wp_index); // 第一次，先发个数据给测流
     }
     copter.flow_measure.set_reach_flow_wp(true);  //到达航点标志置1
@@ -2105,9 +2108,10 @@ bool ModeAuto::verify_nav_wp_flow_measure(const AP_Mission::Mission_Command& cmd
         // states = 1;
         copter.flow_measure.set_reach_flow_wp(false); 
         copter.flow_measure.set_flow_date_flag(false);
-        gcs().send_text(MAV_SEVERITY_INFO, "get data wp:#%i",copter.flow_measure.flow_wp_index);
+        // gcs().send_text(MAV_SEVERITY_INFO, "get data wp:#%i",copter.flow_measure.flow_wp_index);
         copter.flow_measure.set_wp_auto_index(copter.flow_measure.flow_wp_index); // 修正测流起始航点
         copter.flow_measure.flow_wp_index += 1;   // nav 计数
+        wp_nav_index += 1;
 
         return true; // 如果获取到流速，返回1
     }
@@ -2117,6 +2121,7 @@ bool ModeAuto::verify_nav_wp_flow_measure(const AP_Mission::Mission_Command& cmd
         copter.flow_measure.set_reach_flow_wp(false); 
         gcs().send_text(MAV_SEVERITY_INFO, "获取数据超时,序号:#%i",cmd.index);
         copter.flow_measure.flow_wp_index += 1;   // nav 计数
+        wp_nav_index += 1;
         return true;
     }
     return false;

libraries/AP_Camera/AP_Camera.cpp

@@ -110,6 +110,8 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
     AP_GROUPINFO("TYPE",  11, AP_Camera, _type, 0),
     // 是否支持自适应拍照，0：不支持，1：支持
     AP_GROUPINFO("ADAPT_CAM",  12, AP_Camera, _adapt_camera_trigger, 0),
+    // 最小触发时间间隔，ms
+    AP_GROUPINFO("MIN_INTE",  13, AP_Camera, _min_time_interval, 30),
 
 
     AP_GROUPEND
@@ -360,8 +362,12 @@ void AP_Camera::update()
  */
 void AP_Camera::feedback_pin_isr(uint8_t pin, bool high, uint32_t timestamp_us)
 {
-    _feedback_timestamp_us = timestamp_us;
-    _camera_trigger_count++;
+    static uint32_t last_timestamp_us;
+    if(timestamp_us - last_timestamp_us > _min_time_interval * 1000){
+        last_timestamp_us = timestamp_us;
+        _feedback_timestamp_us = timestamp_us;
+        _camera_trigger_count++;
+    }
 }
 
 /*

libraries/AP_Camera/AP_Camera.h

@@ -168,7 +168,7 @@ private:
     AP_Int8         _feedback_polarity;
 
     AP_Int8                _adapt_camera_trigger;
-
+    AP_Int16         _min_time_interval;
     uint32_t        _camera_trigger_count;
     uint32_t        _camera_trigger_logged;
     uint32_t        _feedback_timestamp_us;